Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="imu_px4fmu_v1.7">
  b'<define name="PX4FMU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ" />\n    '
  b'<define name="PX4FMU_SMPLRT_DIV" value="3" />\n    '
  b'<define name="PX4FMU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000" />\n    '
  b'<define name="PX4FMU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_16G" />\n  '
</module>

Module configuration options

Define Options

name: PX4FMU_LOWPASS_FILTER value: MPU60X0_DLPF_256HZ
Description: DigitalLowPassFilter setting of the MPU
name: PX4FMU_SMPLRT_DIV value: 3
Description: sample rate divider setting of the MPU
name: PX4FMU_GYRO_RANGE value: MPU60X0_GYRO_RANGE_2000
Description: gyroscope range setting of the MPU
name: PX4FMU_ACCEL_RANGE value: MPU60X0_ACCEL_RANGE_16G
Description: accelerometer range setting of the MPU

Module functions

Init Functions

These initialization functions are called once on startup.

imu_px4fmu_init()

Event Functions

These event functions are called in each cycle of the module event loop.

imu_px4fmu_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

imu_px4fmu_periodic()
- Running at maximum module frequency.
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

imu_px4fmu.h

Source Files

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="imu_px4fmu_v1.7" dir="imu" task="sensors">
  <doc>
    <description>
      MPU6000 via SPI and HMC5883 via I2C on the PX4FMU v1.7 board
    </description>
    <define name="PX4FMU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ" description="DigitalLowPassFilter setting of the MPU"/>
    <define name="PX4FMU_SMPLRT_DIV" value="3" description="sample rate divider setting of the MPU"/>
    <define name="PX4FMU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000" description="gyroscope range setting of the MPU"/>
    <define name="PX4FMU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_16G" description="accelerometer range setting of the MPU"/>
  </doc>
  <dep>
    <depends>spi_master,i2c,imu_common</depends>
    <provides>imu,mag</provides>
  </dep>
  <header>
    <file name="imu_px4fmu.h"/>
  </header>
  <init fun="imu_px4fmu_init()"/>
  <periodic fun="imu_px4fmu_periodic()"/>
  <event fun="imu_px4fmu_event()"/>
  <makefile target="!sim|nps|fbw">
    <define name="USE_SPI1"/>
    <define name="USE_SPI_SLAVE0"/>
    <define name="USE_SPI_SLAVE1"/>
    <define name="USE_SPI_SLAVE2"/>
    <define name="USE_I2C2"/>
 
    <file name="mpu60x0.c" dir="peripherals"/>
    <file name="mpu60x0_spi.c" dir="peripherals"/>
    <file name="hmc58xx.c" dir="peripherals"/>
    <file name="imu_px4fmu.c"/>
    <test>
      <define name="SPI_MASTER"/>
      <define name="USE_SPI1"/>
      <define name="USE_SPI_SLAVE0"/>
      <define name="USE_SPI_SLAVE1"/>
      <define name="USE_SPI_SLAVE2"/>
      <define name="USE_I2C2"/>
      <define name="PERIODIC_FREQUENCY" value="512"/>
      <define name="IMU_PX4FMU_PERIODIC_FREQ" value="512"/> 
    </test>
  </makefile>
</module>